OpenRaiser/Intern-Atlas huggingface dataset:
Numerical Methods to Compute the Coriolis Matrix and Christoffel Symbols for Rigid-Body Systems
Venue: arXiv cs.RO 2022
Year: 2022

This article presents methods to efficiently compute the Coriolis matrix and underlying Christoffel symbols (of the first kind) for tree-structure rigid-body systems. The algorithms can be executed purely numerically, without requiring partial derivatives as in unscalable symbolic techniques. The computations share a recursive structure in common with classical methods such as the Composite-Rigid-Body Algorithm and are of the lowest possible order: $O(Nd)$ for the Coriolis matrix and $O(Nd^2)$ for the Christoffel symbols, where $N$ is the number of bodies and $d$ is the depth of the kinematic tree. Implementation in C/C++ shows computation times on the order of 10-20 $μ$s for the Coriolis matrix and 40-120 $μ$s for the Christoffel symbols on systems with 20 degrees of freedom. The results demonstrate feasibility for the adoption of these algorithms within high-rate ($>$1kHz) loops for model-based control applications.
Atomic Splittable Flow Over Time Games
Venue: arXiv cs.GT 2022
Year: 2022

In an atomic splittable flow over time game, finitely many players route flow dynamically through a network, in which edges are equipped with transit times, specifying the traversing time, and with capacities, restricting flow rates. Infinitesimally small flow particles controlled by the same player arrive at a constant rate at the player's origin and the player's goal is to maximize the flow volume that arrives at the player's destination within a given time horizon. Hereby, the flow dynamics described by the deterministic queuing model, i.e., flow of different players merges perfectly, but excessive flow has to wait in a queue in front of the bottle-neck. In order to determine Nash equilibria in such games, the main challenge is to consider suitable definitions for the players' strategies, which depend on the level of information the players receive throughout the game. For the most restricted version, in which the players receive no information on the network state at all, we can show that there is no Nash equilibrium in general, not even for networks with only two edges. However, if the current edge congestions are provided over time, the players can adopt their route choices dynamically. We show that a profile of those strategies always lead to a unique feasible flow over time. Hence, those atomic splittable flow over time games are well-defined. For parallel-edge networks Nash equilibria exists and the total flow arriving in time equals the value of a maximum flow over time leading to a price of anarchy of 1.
Mastering Atari with Discrete World Models
Venue: arXiv cs.LG 2022
Year: 2022

Intelligent agents need to generalize from past experience to achieve goals in complex environments. World models facilitate such generalization and allow learning behaviors from imagined outcomes to increase sample-efficiency. While learning world models from image inputs has recently become feasible for some tasks, modeling Atari games accurately enough to derive successful behaviors has remained an open challenge for many years. We introduce DreamerV2, a reinforcement learning agent that learns behaviors purely from predictions in the compact latent space of a powerful world model. The world model uses discrete representations and is trained separately from the policy. DreamerV2 constitutes the first agent that achieves human-level performance on the Atari benchmark of 55 tasks by learning behaviors inside a separately trained world model. With the same computational budget and wall-clock time, Dreamer V2 reaches 200M frames and surpasses the final performance of the top single-GPU agents IQN and Rainbow. DreamerV2 is also applicable to tasks with continuous actions, where it learns an accurate world model of a complex humanoid robot and solves stand-up and walking from only pixel inputs.
An Improvement of Reed's Treewidth Approximation
Venue: arXiv cs.DS 2022
Year: 2022

We present a new approximation algorithm for the treewidth problem which finds an upper bound on the treewidth and constructs a corresponding tree decomposition as well. Our algorithm is a faster variation of Reed's classical algorithm. For the benefit of the reader, and to be able to compare these two algorithms, we start with a detailed time analysis of Reed's algorithm. We fill in many details that have been omitted in Reed's paper. Computing tree decompositions parameterized by the treewidth $k$ is fixed parameter tractable (FPT), meaning that there are algorithms running in time $\mathcal{O}(f(k) g(n))$ where $f$ is a computable function, and $g(n)$ is polynomial in $n$, where $n$ is the number of vertices. An analysis of Reed's algorithm shows $f(k) = 2^{\mathcal{O}(k \log k)}$ and $g(n) = n \log n$ for a 5-approximation. Reed simply claims time $\mathcal{O}(n \log n)$ for bounded $k$ for his constant factor approximation algorithm, but the bound of $2^{Ω(k \log k)} n \log n$ is well known. From a practical point of view, we notice that the time of Reed's algorithm also contains a term of $\mathcal{O}(k^2 2^{24k} n \log n)$, which for small $k$ is much worse than the asymptotically leading term of $2^{\mathcal{O}(k \log k)} n \log n$. We analyze $f(k)$ more precisely, because the purpose of this paper is to improve the running times for all reasonably small values of $k$. Our algorithm runs in $\mathcal{O}(f(k)n\log{n})$ too, but with a much smaller dependence on $k$. In our case, $f(k) = 2^{\mathcal{O}(k)}$. This algorithm is simple and fast, especially for small values of $k$. We should mention that Bodlaender et al. [2016] have an algorithm with a linear dependence on $n$, and Korhonen [2021] obtains the much better approximation ratio of 2, while the current paper achieves a better dependence on $k$.
Constructions of MDS symbol-pair codes with minimum distance seven or eight
Venue: arXiv cs.IT 2022
Year: 2022

Symbol-pair codes are proposed to guard against pair-errors in symbol-pair read channels. The minimum symbol-pair distance plays a vital role in determining the error-correcting capability and the constructions of symbol-pair codes with largest possible minimum symbol-pair distance is of great importance. Maximum distance separable (\,MDS\,) symbol-pair codes are optimal in the sense that such codes can acheive the Singleton bound. In this paper, for length $5p$, two new classes of MDS symbol-pair codes with minimum symbol-pair distance seven or eight are constructed by utilizing repeated-root cyclic codes over $\mathbb{F}_{p}$, where $p$ is a prime. In addition, we derive a class of MDS symbol-pair codes with minimum symbol-pair distance seven and length $4p$.
Cut-and-Paste Object Insertion by Enabling Deep Image Prior for Reshading
Venue: arXiv cs.CV 2022
Year: 2022

We show how to insert an object from one image to another and get realistic results in the hard case, where the shading of the inserted object clashes with the shading of the scene. Rendering objects using an illumination model of the scene doesn't work, because doing so requires a geometric and material model of the object, which is hard to recover from a single image. In this paper, we introduce a method that corrects shading inconsistencies of the inserted object without requiring a geometric and physical model or an environment map. Our method uses a deep image prior (DIP), trained to produce reshaded renderings of inserted objects via consistent image decomposition inferential losses. The resulting image from DIP aims to have (a) an albedo similar to the cut-and-paste albedo, (b) a similar shading field to that of the target scene, and (c) a shading that is consistent with the cut-and-paste surface normals. The result is a simple procedure that produces convincing shading of the inserted object. We show the efficacy of our method both qualitatively and quantitatively for several objects with complex surface properties and also on a dataset of spherical lampshades for quantitative evaluation. Our method significantly outperforms an Image Harmonization (IH) baseline for all these objects. They also outperform the cut-and-paste and IH baselines in a user study with over 100 users.
Correlation Filters for Unmanned Aerial Vehicle-Based Aerial Tracking: A Review and Experimental Evaluation
Venue: arXiv cs.CV 2022
Year: 2022

Aerial tracking, which has exhibited its omnipresent dedication and splendid performance, is one of the most active applications in the remote sensing field. Especially, unmanned aerial vehicle (UAV)-based remote sensing system, equipped with a visual tracking approach, has been widely used in aviation, navigation, agriculture,transportation, and public security, etc. As is mentioned above, the UAV-based aerial tracking platform has been gradually developed from research to practical application stage, reaching one of the main aerial remote sensing technologies in the future. However, due to the real-world onerous situations, e.g., harsh external challenges, the vibration of the UAV mechanical structure (especially under strong wind conditions), the maneuvering flight in complex environment, and the limited computation resources onboard, accuracy, robustness, and high efficiency are all crucial for the onboard tracking methods. Recently, the discriminative correlation filter (DCF)-based trackers have stood out for their high computational efficiency and appealing robustness on a single CPU, and have flourished in the UAV visual tracking community. In this work, the basic framework of the DCF-based trackers is firstly generalized, based on which, 23 state-of-the-art DCF-based trackers are orderly summarized according to their innovations for solving various issues. Besides, exhaustive and quantitative experiments have been extended on various prevailing UAV tracking benchmarks, i.e., UAV123, UAV123@10fps, UAV20L, UAVDT, DTB70, and VisDrone2019-SOT, which contain 371,903 frames in total. The experiments show the performance, verify the feasibility, and demonstrate the current challenges of DCF-based trackers onboard UAV tracking.
Affect-Driven Modelling of Robot Personality for Collaborative Human-Robot Interactions
Venue: arXiv cs.RO 2022
Year: 2022

Collaborative interactions require social robots to adapt to the dynamics of human affective behaviour. Yet, current approaches for affective behaviour generation in robots focus on instantaneous perception to generate a one-to-one mapping between observed human expressions and static robot actions. In this paper, we propose a novel framework for personality-driven behaviour generation in social robots. The framework consists of (i) a hybrid neural model for evaluating facial expressions and speech, forming intrinsic affective representations in the robot, (ii) an Affective Core, that employs self-organising neural models to embed robot personality traits like patience and emotional actuation, and (iii) a Reinforcement Learning model that uses the robot's affective appraisal to learn interaction behaviour. For evaluation, we conduct a user study (n = 31) where the NICO robot acts as a proposer in the Ultimatum Game. The effect of robot personality on its negotiation strategy is witnessed by participants, who rank a patient robot with high emotional actuation higher on persistence, while an inert and impatient robot higher on its generosity and altruistic behaviour.
Pose Estimation for Robot Manipulators via Keypoint Optimization and Sim-to-Real Transfer
Venue: arXiv cs.RO 2022
Year: 2022

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More recently, deep learning methods have been explored as they have the ability to detect user-defined keypoints in a marker-less manner. However, different manually selected keypoints can have uneven performance when it comes to detection and localization. An example of this can be found on symmetric robotic tools where DNN detectors cannot solve the correspondence problem correctly. In this work, we propose a new and autonomous way to define the keypoint locations that overcomes these challenges. The approach involves finding the optimal set of keypoints on robotic manipulators for robust visual detection and localization. Using a robotic simulator as a medium, our algorithm utilizes synthetic data for DNN training, and the proposed algorithm is used to optimize the selection of keypoints through an iterative approach. The results show that when using the optimized keypoints, the detection performance of the DNNs improved significantly. We further use the optimized keypoints for real robotic applications by using domain randomization to bridge the reality gap between the simulator and the physical world. The physical world experiments show how the proposed method can be applied to the wide-breadth of robotic applications that require visual feedback, such as camera-to-robot calibration, robotic tool tracking, and end-effector pose estimation.
Enumerating Answers to First-Order Queries over Databases of Low Degree
Venue: arXiv cs.DB 2022
Year: 2022

A class of relational databases has low degree if for all $δ>0$, all but finitely many databases in the class have degree at most $n^δ$, where $n$ is the size of the database. Typical examples are databases of bounded degree or of degree bounded by $\log n$. It is known that over a class of databases having low degree, first-order boolean queries can be checked in pseudo-linear time, i.e.\ for all $ε>0$ in time bounded by $n^{1+ε}$. We generalize this result by considering query evaluation. We show that counting the number of answers to a query can be done in pseudo-linear time and that after a pseudo-linear time preprocessing we can test in constant time whether a given tuple is a solution to a query or enumerate the answers to a query with constant delay.
Tight Lower Complexity Bounds for Strongly Convex Finite-Sum Optimization
Venue: arXiv cs.LG 2022
Year: 2022

Finite-sum optimization plays an important role in the area of machine learning, and hence has triggered a surge of interest in recent years. To address this optimization problem, various randomized incremental gradient methods have been proposed with guaranteed upper and lower complexity bounds for their convergence. Nonetheless, these lower bounds rely on certain conditions: deterministic optimization algorithm, or fixed probability distribution for the selection of component functions. Meanwhile, some lower bounds even do not match the upper bounds of the best known methods in certain cases. To break these limitations, we derive tight lower complexity bounds of randomized incremental gradient methods, including SAG, SAGA, SVRG, and SARAH, for two typical cases of finite-sum optimization. Specifically, our results tightly match the upper complexity of Katyusha or VRADA when each component function is strongly convex and smooth, and tightly match the upper complexity of SDCA without duality and of KatyushaX when the finite-sum function is strongly convex and the component functions are average smooth.
Rethinking Document-level Neural Machine Translation
Venue: arXiv cs.CL 2022
Year: 2022

This paper does not aim at introducing a novel model for document-level neural machine translation. Instead, we head back to the original Transformer model and hope to answer the following question: Is the capacity of current models strong enough for document-level translation? Interestingly, we observe that the original Transformer with appropriate training techniques can achieve strong results for document translation, even with a length of 2000 words. We evaluate this model and several recent approaches on nine document-level datasets and two sentence-level datasets across six languages. Experiments show that document-level Transformer models outperforms sentence-level ones and many previous methods in a comprehensive set of metrics, including BLEU, four lexical indices, three newly proposed assistant linguistic indicators, and human evaluation.
Tensor-based Intrinsic Subspace Representation Learning for Multi-view Clustering
Venue: arXiv cs.LG 2022
Year: 2022

As a hot research topic, many multi-view clustering approaches are proposed over the past few years. Nevertheless, most existing algorithms merely take the consensus information among different views into consideration for clustering. Actually, it may hinder the multi-view clustering performance in real-life applications, since different views usually contain diverse statistic properties. To address this problem, we propose a novel Tensor-based Intrinsic Subspace Representation Learning (TISRL) for multi-view clustering in this paper. Concretely, the rank preserving decomposition is proposed firstly to effectively deal with the diverse statistic information contained in different views. Then, to achieve the intrinsic subspace representation, the tensor-singular value decomposition based low-rank tensor constraint is also utilized in our method. It can be seen that specific information contained in different views is fully investigated by the rank preserving decomposition, and the high-order correlations of multi-view data are also mined by the low-rank tensor constraint. The objective function can be optimized by an augmented Lagrangian multiplier based alternating direction minimization algorithm. Experimental results on nine common used real-world multi-view datasets illustrate the superiority of TISRL.
Connecting Weighted Automata, Tensor Networks and Recurrent Neural Networks through Spectral Learning
Venue: arXiv cs.LG 2022
Year: 2022

In this paper, we present connections between three models used in different research fields: weighted finite automata~(WFA) from formal languages and linguistics, recurrent neural networks used in machine learning, and tensor networks which encompasses a set of optimization techniques for high-order tensors used in quantum physics and numerical analysis. We first present an intrinsic relation between WFA and the tensor train decomposition, a particular form of tensor network. This relation allows us to exhibit a novel low rank structure of the Hankel matrix of a function computed by a WFA and to design an efficient spectral learning algorithm leveraging this structure to scale the algorithm up to very large Hankel matrices.We then unravel a fundamental connection between WFA and second-orderrecurrent neural networks~(2-RNN): in the case of sequences of discrete symbols, WFA and 2-RNN with linear activationfunctions are expressively equivalent. Leveraging this equivalence result combined with the classical spectral learning algorithm for weighted automata, we introduce the first provable learning algorithm for linear 2-RNN defined over sequences of continuous input vectors.This algorithm relies on estimating low rank sub-blocks of the Hankel tensor, from which the parameters of a linear 2-RNN can be provably recovered. The performances of the proposed learning algorithm are assessed in a simulation study on both synthetic and real-world data.
Inequalities for space-bounded Kolmogorov complexity
Venue: arXiv cs.IT 2022
Year: 2022

There is a parallelism between Shannon information theory and algorithmic information theory. In particular, the same linear inequalities are true for Shannon entropies of tuples of random variables and Kolmogorov complexities of tuples of strings (Hammer et al., 1997), as well as for sizes of subgroups and projections of sets (Chan, Yeung, Romashchenko, Shen, Vereshchagin, 1998--2002). This parallelism started with the Kolmogorov-Levin formula (1968) for the complexity of pairs of strings with logarithmic precision. Longpré (1986) proved a version of this formula for space-bounded complexities. In this paper we prove an improved version of Longpré's result with a tighter space bound, using Sipser's trick (1980). Then, using this space bound, we show that every linear inequality that is true for complexities or entropies, is also true for space-bounded Kolmogorov complexities with a polynomial space overhead.
Ulixes: Facial Recognition Privacy with Adversarial Machine Learning
Venue: arXiv cs.CV 2022
Year: 2022

Facial recognition tools are becoming exceptionally accurate in identifying people from images. However, this comes at the cost of privacy for users of online services with photo management (e.g. social media platforms). Particularly troubling is the ability to leverage unsupervised learning to recognize faces even when the user has not labeled their images. In this paper we propose Ulixes, a strategy to generate visually non-invasive facial noise masks that yield adversarial examples, preventing the formation of identifiable user clusters in the embedding space of facial encoders. This is applicable even when a user is unmasked and labeled images are available online. We demonstrate the effectiveness of Ulixes by showing that various classification and clustering methods cannot reliably label the adversarial examples we generate. We also study the effects of Ulixes in various black-box settings and compare it to the current state of the art in adversarial machine learning. Finally, we challenge the effectiveness of Ulixes against adversarially trained models and show that it is robust to countermeasures.
Linear-Delay Enumeration for Minimal Steiner Problems
Venue: arXiv cs.DS 2022
Year: 2022

Kimelfeld and Sagiv [Kimelfeld and Sagiv, PODS 2006], [Kimelfeld and Sagiv, Inf. Syst. 2008] pointed out the problem of enumerating $K$-fragments is of great importance in a keyword search on data graphs. In a graph-theoretic term, the problem corresponds to enumerating minimal Steiner trees in (directed) graphs. In this paper, we propose a linear-delay and polynomial-space algorithm for enumerating all minimal Steiner trees, improving on a previous result in [Kimelfeld and Sagiv, Inf. Syst. 2008]. Our enumeration algorithm can be extended to other Steiner problems, such as minimal Steiner forests, minimal terminal Steiner trees, and minimal directed Steiner trees. As another variant of the minimal Steiner tree enumeration problem, we study the problem of enumerating minimal induced Steiner subgraphs. We propose a polynomial-delay and exponential-space enumeration algorithm of minimal induced Steiner subgraphs on claw-free graphs. Contrary to these tractable results, we show that the problem of enumerating minimal group Steiner trees is at least as hard as the minimal transversal enumeration problem on hypergraphs.
Robust Low-tubal-rank Tensor Completion based on Tensor Factorization and Maximum Correntopy Criterion
Venue: arXiv cs.LG 2022
Year: 2022

The goal of tensor completion is to recover a tensor from a subset of its entries, often by exploiting its low-rank property. Among several useful definitions of tensor rank, the low-tubal-rank was shown to give a valuable characterization of the inherent low-rank structure of a tensor. While some low-tubal-rank tensor completion algorithms with favorable performance have been recently proposed, these algorithms utilize second-order statistics to measure the error residual, which may not work well when the observed entries contain large outliers. In this paper, we propose a new objective function for low-tubal-rank tensor completion, which uses correntropy as the error measure to mitigate the effect of the outliers. To efficiently optimize the proposed objective, we leverage a half-quadratic minimization technique whereby the optimization is transformed to a weighted low-tubal-rank tensor factorization problem. Subsequently, we propose two simple and efficient algorithms to obtain the solution and provide their convergence and complexity analysis. Numerical results using both synthetic and real data demonstrate the robust and superior performance of the proposed algorithms.